OpenRaiser/Intern-Atlas huggingface dataset:
Dynamic Arrival Rate Estimation for Campus Mobility on Demand Network Graphs
Venue: arXiv cs.RO 2017
Year: 2017

Mobility On Demand (MOD) systems are revolutionizing transportation in urban settings by improving vehicle utilization and reducing parking congestion. A key factor in the success of an MOD system is the ability to measure and respond to real-time customer arrival data. Real time traffic arrival rate data is traditionally difficult to obtain due to the need to install fixed sensors throughout the MOD network. This paper presents a framework for measuring pedestrian traffic arrival rates using sensors onboard the vehicles that make up the MOD fleet. A novel distributed fusion algorithm is presented which combines onboard LIDAR and camera sensor measurements to detect trajectories of pedestrians with a 90% detection hit rate with 1.5 false positives per minute. A novel moving observer method is introduced to estimate pedestrian arrival rates from pedestrian trajectories collected from mobile sensors. The moving observer method is evaluated in both simulation and hardware and is shown to achieve arrival rate estimates comparable to those that would be obtained with multiple stationary sensors.
Cooperative Epistemic Multi-Agent Planning for Implicit Coordination
Venue: arXiv cs.AI 2017
Year: 2017

Epistemic planning can be used for decision making in multi-agent situations with distributed knowledge and capabilities. Recently, Dynamic Epistemic Logic (DEL) has been shown to provide a very natural and expressive framework for epistemic planning. We extend the DEL-based epistemic planning framework to include perspective shifts, allowing us to define new notions of sequential and conditional planning with implicit coordination. With these, it is possible to solve planning tasks with joint goals in a decentralized manner without the agents having to negotiate about and commit to a joint policy at plan time. First we define the central planning notions and sketch the implementation of a planning system built on those notions. Afterwards we provide some case studies in order to evaluate the planner empirically and to show that the concept is useful for multi-agent systems in practice.
Stealthy Malware Traffic - Not as Innocent as It Looks
Venue: arXiv cs.CR 2017
Year: 2017

Malware is constantly evolving. Although existing countermeasures have success in malware detection, corresponding counter-countermeasures are always emerging. In this study, a counter-countermeasure that avoids network-based detection approaches by camouflaging malicious traffic as an innocuous protocol is presented. The approach includes two steps: Traffic format transformation and side-channel massage (SCM). Format transforming encryption (FTE) translates protocol syntax to mimic another innocuous protocol while SCM obscures traffic side-channels. The proposed approach is illustrated by transforming Zeus botnet (Zbot) Command and Control (C&C) traffic into smart grid Phasor Measurement Unit (PMU) data. The experimental results show that the transformed traffic is identified by Wireshark as synchrophasor protocol, and the transformed protocol fools current side-channel attacks. Moreover, it is shown that a real smart grid Phasor Data Concentrator (PDC) accepts the false PMU data.
Influence of random opinion change in complex networks
Venue: arXiv cs.SI 2017
Year: 2017

Opinion formation in the population has attracted extensive research interest. Various models have been introduced and studied, including the ones with individuals' free will allowing them to change their opinions. Such models, however, have not taken into account the fact that individuals with different opinions may have different levels of loyalty, and consequently, different probabilities of changing their opinions. In this work, we study on how the non-uniform distribution of the opinion changing probability may affect the final state of opinion distribution. By simulating a few different cases with different symmetric and asymmetric non-uniform patterns of opinion changing probabilities, we demonstrate the significant effects that the different loyalty levels of different opinions have on the final state of the opinion distribution.
Functions that Emerge through End-to-End Reinforcement Learning - The Direction for Artificial General Intelligence -
Venue: arXiv cs.AI 2017
Year: 2017

Recently, triggered by the impressive results in TV-games or game of Go by Google DeepMind, end-to-end reinforcement learning (RL) is collecting attentions. Although little is known, the author's group has propounded this framework for around 20 years and already has shown various functions that emerge in a neural network (NN) through RL. In this paper, they are introduced again at this timing. "Function Modularization" approach is deeply penetrated subconsciously. The inputs and outputs for a learning system can be raw sensor signals and motor commands. "State space" or "action space" generally used in RL show the existence of functional modules. That has limited reinforcement learning to learning only for the action-planning module. In order to extend reinforcement learning to learning of the entire function on a huge degree of freedom of a massively parallel learning system and to explain or develop human-like intelligence, the author has believed that end-to-end RL from sensors to motors using a recurrent NN (RNN) becomes an essential key. Especially in the higher functions, this approach is very effective by being free from the need to decide their inputs and outputs. The functions that emerge, we have confirmed, through RL using a NN cover a broad range from real robot learning with raw camera pixel inputs to acquisition of dynamic functions in a RNN. Those are (1)image recognition, (2)color constancy (optical illusion), (3)sensor motion (active recognition), (4)hand-eye coordination and hand reaching movement, (5)explanation of brain activities, (6)communication, (7)knowledge transfer, (8)memory, (9)selective attention, (10)prediction, (11)exploration. The end-to-end RL enables the emergence of very flexible comprehensive functions that consider many things in parallel although it is difficult to give the boundary of each function clearly.
Linear and Circular Microphone Array for Remote Surveillance: Simulated Performance Analysis
Venue: arXiv cs.SD 2017
Year: 2017

Acoustic beamforming with a microphone array represents an adequate technology for remote acoustic surveillance, as the system has no mechanical parts and it has moderate size. However, in order to accomplish real implementation, several challenges need to be addressed, such as array geometry, microphone characteristics, and the digital beamforming algorithms. This paper presents a simulated analysis on the effect of the array geometry in the beamforming response. Two geometries are considered, namely, the linear and the circular geometry. The analysis is performed with computer simulations to mimic reality. The future steps comprise the construction of the physical microphone array, and the software implementation on a multichannel digital signal processing (DSP) system.
Design and Development of an automated Robotic Pick & Stow System for an e-Commerce Warehouse
Venue: arXiv cs.RO 2017
Year: 2017

In this paper, we provide details of a robotic system that can automate the task of picking and stowing objects from and to a rack in an e-commerce fulfillment warehouse. The system primarily comprises of four main modules: (1) Perception module responsible for recognizing query objects and localizing them in the 3-dimensional robot workspace; (2) Planning module generates necessary paths that the robot end- effector has to take for reaching the objects in the rack or in the tote; (3) Calibration module that defines the physical workspace for the robot visible through the on-board vision system; and (4) Gripping and suction system for picking and stowing different kinds of objects. The perception module uses a faster region-based Convolutional Neural Network (R-CNN) to recognize objects. We designed a novel two finger gripper that incorporates pneumatic valve based suction effect to enhance its ability to pick different kinds of objects. The system was developed by IITK-TCS team for participation in the Amazon Picking Challenge 2016 event. The team secured a fifth place in the stowing task in the event. The purpose of this article is to share our experiences with students and practicing engineers and enable them to build similar systems. The overall efficacy of the system is demonstrated through several simulation as well as real-world experiments with actual robots.
A quantum dynamic belief decision making model
Venue: arXiv cs.AI 2017
Year: 2017

The sure thing principle and the law of total probability are basic laws in classic probability theory. A disjunction fallacy leads to the violation of these two classical probability laws. In this paper, a new quantum dynamic belief decision making model based on quantum dynamic modelling and Dempster-Shafer (D-S) evidence theory is proposed to address this issue and model the real human decision-making process. Some mathematical techniques are borrowed from quantum mathematics. Generally, belief and action are two parts in a decision making process. The uncertainty in belief part is represented by a superposition of certain states. The uncertainty in actions is represented as an extra uncertainty state. The interference effect is produced due to the entanglement between beliefs and actions. Basic probability assignment (BPA) of decisions is generated by quantum dynamic modelling. Then BPA of the extra uncertain state and an entanglement degree defined by an entropy function named Deng entropy are used to measure the interference effect. Compared the existing model, the number of free parameters is less in our model. Finally, a classical categorization decision-making experiment is illustrated to show the effectiveness of our model.
Parallel Implementation of Lossy Data Compression for Temporal Data Sets
Venue: arXiv cs.DC 2017
Year: 2017

Many scientific data sets contain temporal dimensions. These are the data storing information at the same spatial location but different time stamps. Some of the biggest temporal datasets are produced by parallel computing applications such as simulations of climate change and fluid dynamics. Temporal datasets can be very large and cost a huge amount of time to transfer among storage locations. Using data compression techniques, files can be transferred faster and save storage space. NUMARCK is a lossy data compression algorithm for temporal data sets that can learn emerging distributions of element-wise change ratios along the temporal dimension and encodes them into an index table to be concisely represented. This paper presents a parallel implementation of NUMARCK. Evaluated with six data sets obtained from climate and astrophysics simulations, parallel NUMARCK achieved scalable speedups of up to 8788 when running 12800 MPI processes on a parallel computer. We also compare the compression ratios against two lossy data compression algorithms, ISABELA and ZFP. The results show that NUMARCK achieved higher compression ratio than ISABELA and ZFP.
Deep Learning for Automated Quality Assessment of Color Fundus Images in Diabetic Retinopathy Screening
Venue: arXiv cs.CV 2017
Year: 2017

Purpose To develop a computer based method for the automated assessment of image quality in the context of diabetic retinopathy (DR) to guide the photographer. Methods A deep learning framework was trained to grade the images automatically. A large representative set of 7000 color fundus images were used for the experiment which were obtained from the EyePACS that were made available by the California Healthcare Foundation. Three retinal image analysis experts were employed to categorize these images into Accept and Reject classes based on the precise definition of image quality in the context of DR. A deep learning framework was trained using 3428 images. Results A total of 3572 images were used for the evaluation of the proposed method. The method shows an accuracy of 100% to successfully categorise Accept and Reject images. Conclusion Image quality is an essential prerequisite for the grading of DR. In this paper we have proposed a deep learning based automated image quality assessment method in the context of DR. The method can be easily incorporated with the fundus image capturing system and thus can guide the photographer whether a recapture is necessary or not.
Efficient motion planning for problems lacking optimal substructure
Venue: arXiv cs.RO 2017
Year: 2017

We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We suggest a natural cost function that balances path length and risk-exposure time. Specifically, we consider the discrete setting where we are given a graph, or a roadmap, and we wish to compute the minimal-cost path under this cost function. Interestingly, paths defined using our cost function do not have an optimal substructure. Namely, subpaths of an optimal path are not necessarily optimal. Thus, the Bellman condition is not satisfied and standard graph-search algorithms such as Dijkstra cannot be used. We present a path-finding algorithm, which can be seen as a natural generalization of Dijkstra's algorithm. Our algorithm runs in $O\left((n_B\cdot n) \log( n_B\cdot n) + n_B\cdot m\right)$ time, where~$n$ and $m$ are the number of vertices and edges of the graph, respectively, and $n_B$ is the number of intersections between edges and the boundary of the risk zone. We present simulations on robotic platforms demonstrating both the natural paths produced by our cost function and the computational efficiency of our algorithm.
Horde of Bandits using Gaussian Markov Random Fields
Venue: arXiv cs.LG 2017
Year: 2017

The gang of bandits (GOB) model \cite{cesa2013gang} is a recent contextual bandits framework that shares information between a set of bandit problems, related by a known (possibly noisy) graph. This model is useful in problems like recommender systems where the large number of users makes it vital to transfer information between users. Despite its effectiveness, the existing GOB model can only be applied to small problems due to its quadratic time-dependence on the number of nodes. Existing solutions to combat the scalability issue require an often-unrealistic clustering assumption. By exploiting a connection to Gaussian Markov random fields (GMRFs), we show that the GOB model can be made to scale to much larger graphs without additional assumptions. In addition, we propose a Thompson sampling algorithm which uses the recent GMRF sampling-by-perturbation technique, allowing it to scale to even larger problems (leading to a "horde" of bandits). We give regret bounds and experimental results for GOB with Thompson sampling and epoch-greedy algorithms, indicating that these methods are as good as or significantly better than ignoring the graph or adopting a clustering-based approach. Finally, when an existing graph is not available, we propose a heuristic for learning it on the fly and show promising results.
Performance Scaling Law for Multi-Cell Multi-User Massive MIMO
Venue: arXiv cs.IT 2017
Year: 2017

This work provides a comprehensive scaling law based performance analysis for multi-cell multi-user massive multiple-input-multiple-output (MIMO) downlink systems. Imperfect channel state information (CSI), pilot contamination, and channel spatial correlation are all considered. First, a sum- rate lower bound is derived by exploiting the asymptotically deterministic property of the received signal power, while keeping the random nature of other components in the signal-to-interference-plus-noise-ratio (SINR) intact. Via a general scaling model on important network parameters, including the number of users, the channel training energy and the data transmission power, with respect to the number of base station antennas, the asymptotic scaling law of the effective SINR is obtained, which reveals quantitatively the tradeoff of the network parameters. More importantly, pilot contamination and pilot contamination elimination (PCE) are considered in the analytical framework. In addition, the applicability of the derived asymptotic scaling law in practical systems with large but finite antenna numbers are discussed. Finally, sufficient conditions on the parameter scalings for the SINR to be asymptotically deterministic in the sense of mean square convergence are provided, which covers existing results on such analysis as special cases and shows the effect of PCE explicitly.
Online Learning Without Prior Information
Venue: arXiv cs.LG 2017
Year: 2017

The vast majority of optimization and online learning algorithms today require some prior information about the data (often in the form of bounds on gradients or on the optimal parameter value). When this information is not available, these algorithms require laborious manual tuning of various hyperparameters, motivating the search for algorithms that can adapt to the data with no prior information. We describe a frontier of new lower bounds on the performance of such algorithms, reflecting a tradeoff between a term that depends on the optimal parameter value and a term that depends on the gradients' rate of growth. Further, we construct a family of algorithms whose performance matches any desired point on this frontier, which no previous algorithm reaches.
What Would You Do? Acting by Learning to Predict
Venue: arXiv cs.RO 2017
Year: 2017

We propose to learn tasks directly from visual demonstrations by learning to predict the outcome of human and robot actions on an environment. We enable a robot to physically perform a human demonstrated task without knowledge of the thought processes or actions of the human, only their visually observable state transitions. We evaluate our approach on two table-top, object manipulation tasks and demonstrate generalisation to previously unseen states. Our approach reduces the priors required to implement a robot task learning system compared with the existing approaches of Learning from Demonstration, Reinforcement Learning and Inverse Reinforcement Learning.
Stability proof for nonlinear MPC design using monotonically increasing weighting profiles without terminal constraints
Venue: arXiv cs.SY 2017
Year: 2017

In this note, a new formulation of Model Predictive Control (MPC) framework with no stability-related terminal constraint is proposed and its stability is proved under mild standard assumptions. The novelty in the formulation lies in the use of time-varying monotonically increasing stage cost penalty. The main result is that the $0$-reachability prediction horizon can always be made stabilizing provided that the increasing rate of the penalty is made sufficiently high.
Decoding Complex Imagery Hand Gestures
Venue: arXiv cs.HC 2017
Year: 2017

Brain computer interfaces (BCIs) offer individuals suffering from major disabilities an alternative method to interact with their environment. Sensorimotor rhythm (SMRs) based BCIs can successfully perform control tasks; however, the traditional SMR paradigms intuitively disconnect the control and real task, making them non-ideal for complex control scenarios. In this study, we design a new, intuitively connected motor imagery (MI) paradigm using hierarchical common spatial patterns (HCSP) and context information to effectively predict intended hand grasps from electroencephalogram (EEG) data. Experiments with 5 participants yielded an aggregate classification accuracy--intended grasp prediction probability--of 64.5\% for 8 different hand gestures, more than 5 times the chance level.
A Manifold Approach to Learning Mutually Orthogonal Subspaces
Venue: arXiv cs.LG 2017
Year: 2017

Although many machine learning algorithms involve learning subspaces with particular characteristics, optimizing a parameter matrix that is constrained to represent a subspace can be challenging. One solution is to use Riemannian optimization methods that enforce such constraints implicitly, leveraging the fact that the feasible parameter values form a manifold. While Riemannian methods exist for some specific problems, such as learning a single subspace, there are more general subspace constraints that offer additional flexibility when setting up an optimization problem, but have not been formulated as a manifold. We propose the partitioned subspace (PS) manifold for optimizing matrices that are constrained to represent one or more subspaces. Each point on the manifold defines a partitioning of the input space into mutually orthogonal subspaces, where the number of partitions and their sizes are defined by the user. As a result, distinct groups of features can be learned by defining different objective functions for each partition. We illustrate the properties of the manifold through experiments on multiple dataset analysis and domain adaptation.
A dichotomy theorem for nonuniform CSPs
Venue: arXiv cs.CC 2017
Year: 2017

In this paper we prove the Dichotomy Conjecture on the complexity of nonuniform constraint satisfaction problems posed by Feder and Vardi.
Beamspace Aware Adaptive Channel Estimation for Single-Carrier Time-varying Massive MIMO Channels
Venue: arXiv cs.IT 2017
Year: 2017

In this paper, the problem of sequential beam construction and adaptive channel estimation based on reduced rank (RR) Kalman filtering for frequency-selective massive multiple-input multiple-output (MIMO) systems employing single-carrier (SC) in time division duplex (TDD) mode are considered. In two-stage beamforming, a new algorithm for statistical pre-beamformer design is proposed for spatially correlated time-varying wideband MIMO channels under the assumption that the channel is a stationary Gauss-Markov random process. The proposed algorithm yields a nearly optimal pre-beamformer whose beam pattern is designed sequentially with low complexity by taking the user-grouping into account, and exploiting the properties of Kalman filtering and associated prediction error covariance matrices. The resulting design, based on the second order statistical properties of the channel, generates beamspace on which the RR Kalman estimator can be realized as accurately as possible. It is observed that the adaptive channel estimation technique together with the proposed sequential beamspace construction shows remarkable robustness to the pilot interference. This comes with significant reduction in both pilot overhead and dimension of the pre-beamformer lowering both hardware complexity and power consumption.